Sectional boom height control of individual section for sprayers and system thereof

ABSTRACT

A spray boom of a spray boom assembly includes a boom frame and a spray section coupled to the boom frame. The spray section includes an elongated spray pipe configured to be fluidly coupled to a fluid source and a nozzle coupled to the spray pipe. An actuator is coupled at one end to the boom frame and at an opposite end to the spray section. The actuator controllably extends and retracts to move the spray pipe and nozzle between a raised position and a lowered position.

RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 62/570,752, filed Oct. 11, 2017, the disclosure ofwhich is hereby incorporated by reference in its entirety.

FIELD OF THE DISCLOSURE

The present disclosure relates to a sprayer, and in particular, to asprayer control system for controlling sectional boom height of asprayer.

BACKGROUND

Agricultural machines, such as a sprayer, may include a center framewith a spray boom pivotably attached thereto on each side of the frame.Nozzles may be rigidly connected to the booms for spraying a chemicalsubstance onto a field. Each boom may tilt relative to the center frameduring operation, particularly if an object is in the path of travel ofthe sprayer. Moreover, the center frame and booms may be lifted togetherin unison to achieve different spray heights.

Conventional control algorithms may be programmed to add some error inspray heights to accommodate different terrain. As described, if anobstacle is in the path of travel of the spray near an end of the boom,then the entire boom is raised or tilted to avoid the obstacle. Thiscauses some problems with losses in productivity because the chemicalspray may not reach the crop in the desired amount. Further, thechemical spray may drift due to the wind when the boom is raised and bedisposed on a non-targeted area. Therefore, conventional sprayers andtheir respective control systems are unable to manage boom heightcontrol due to changes in terrain and when obstacles are disposed in thepath of travel of the sprayer. Moreover, conventional sprayers may notbe able to control spray drift due to their current configurations.

Thus, there is a need for improved boom height control and drift controlover conventional sprayers and spray control systems.

SUMMARY

In one embodiment of the present disclosure, a spray boom of a sprayboom assembly includes a boom frame; a spray section coupled to the boomframe, the spray section including an elongated spray pipe configured tobe fluidly coupled to a fluid source; a nozzle coupled to the spray pipeand configured to be fluidly coupled to the fluid source, the nozzleincluding a tip for distributing a fluid; an actuator coupled at one endto the boom frame and at an opposite end to the spray section; wherein,the actuator controllably extends and retracts to move the spray pipeand nozzle between a raised position and a lowered position.

In one example of this embodiment, a plumbing frame is provided to whichthe spray pipe is coupled, the plumbing frame being movable by theactuator between the raised position and the lowered position. In asecond example, the boom includes a protective cover of the spraysection for at least partially surrounding the spray pipe and thenozzle. In a third example, the protective cover includes at least onewall that extends downwardly to a location that is lower than the nozzlein its lowered position. In a fourth example, the protective coverincludes a top portion, a first side wall, and a second side wall; thefirst actuator being coupled to the top portion to move the spraysection in a substantially linear direction between the raised andlowered positions.

In a fifth example, the spray boom may include a first actuator coupledat one end to the protective cover and at an opposite end to the spraypipe; a second actuator coupled at one end to the protective cover andat an opposite end to the spray pipe; wherein, the first actuator andsecond actuator are spaced along the spray pipe from one another;further wherein, the first actuator operably moves one end of the spraypipe relative to the protective cover, and the second actuator operablymoves an opposite end of the spray pipe relative to the protectivecover. In a sixth example of this embodiment, the actuator operablymoves the protective cover, the first and second actuators, the spraypipe, and the nozzle relative to the boom frame.

In another example, the spray boom may include a second actuator coupledat one end to the boom frame and at an opposite end to the spraysection, the second actuator being spaced from the first actuator alongthe spray pipe such that the first actuator is disposed near one end ofthe spray pipe and the second actuator is disposed near an opposite endof the spray pipe; wherein, the second actuator controllably extends andretracts to move the spray pipe between a raised position and a loweredposition. In a further example, the first actuator and the secondactuator are controllably actuated independently of one another. In yeta further example, the spray boom may include a second spray sectioncoupled to the boom frame, the second spray section including a secondelongated spray pipe configured to be fluidly coupled to the fluidsource; a second nozzle coupled to the second spray pipe and configuredto be fluidly coupled to the fluid source; a second actuator coupled atone end to the boom frame and at an opposite end to the second spraysection; wherein, the second actuator controllably extends and retractsto move the second spray pipe and the second nozzle between a raisedposition and a lowered position; further wherein, the first actuator andthe second actuator are operably controlled independently of oneanother.

In another embodiment of this disclosure, a spray boom assembly includesa plurality of boom frames including at least a first boom frame and asecond boom frame; the first boom frame comprising a first spray sectioncoupled thereto, the first spray section including a first spray pipeand a first nozzle, the first spray pipe and first nozzle configured tobe fluidly coupled to a fluid source; the second boom frame comprising asecond spray section coupled thereto, the second spray section includinga second spray pipe and a second nozzle, the second spray pipe andsecond nozzle configured to be fluidly coupled to the fluid source; afirst actuator coupled at one end to the first boom frame and at anopposite end to the first spray section; a second actuator coupled atone end to the second boom frame and at an opposite end to the secondspray section; wherein, the first actuator controllably extends andretracts to move the first spray pipe and the first nozzle between araised position and a lowered position, and the second actuatorcontrollably extends and retracts to move the second spray pipe and thesecond nozzle between a raised position and a lowered position; furtherwherein, the first actuator and the second actuator are operablycontrolled independently of one another.

In one example of this embodiment, the assembly may include a thirdspray section coupled to the first boom frame and having a third spraypipe and a third nozzle, and a third actuator coupled between the firstboom frame and the third spray section for controllably actuating thethird spray section between a raised position and a lowered position,wherein the third actuator is controlled independently of the first andsecond actuators. In a second example, the assembly may include a thirdactuator coupled at one end to the first boom frame and at an oppositeend to the first spray pipe, the third actuator being spaced from thefirst actuator along the first spray pipe; wherein, the first actuatorand the third actuator are controlled independently of one another. In athird example, the spray boom assembly may include a fourth actuatorcoupled at one end to the second boom frame and at an opposite end tothe second spray pipe, the fourth actuator being spaced from the secondactuator along the second spray pipe; wherein, the first, second, thirdand fourth actuators are controlled independently of one another.

In a fourth example, the plurality of boom frames may include a thirdboom frame having a third spray section coupled thereto, the third spraysection including a third spray pipe and a third nozzle, the third spraypipe and the third nozzle configured to be fluidly coupled to the fluidsource; and a third actuator coupled at one end to the third boom frameand at an opposite end to the third spray section; wherein, the thirdactuator is operably controlled independently of the first and secondactuators. In another example of this embodiment, the first spraysection may include a plurality of spray sections, each of the pluralityof spray sections including a spray pipe and a nozzle coupled thereto,where each of the plurality of spray sections further includes anactuator coupled between the first boom frame and each spray pipe ofeach spray section, wherein, each of the actuators operably controllingmovement of each of the plurality of spray sections independently of theother spray sections.

In a further embodiment of this disclosure, a spray boom assembly beingtransported by a work vehicle in a direction of travel for performing aspraying operation on a field includes a control system comprising acontroller for operably controlling the spray boom assembly; a centerframe; a first boom and a second boom pivotally coupled to the centerframe, the first boom extending transversely from one side of the centerframe relative to the direction of travel and the second boom extendingtransversely from an opposite side of the center frame; the first boomincluding a first boom frame and the second boom including a second boomframe; the first boom frame comprising a first spray section coupledthereto, the first spray section including a first spray pipe and afirst nozzle, the first spray pipe and first nozzle configured to befluidly coupled to a fluid source; the second boom frame comprising asecond spray section coupled thereto, the second spray section includinga second spray pipe and a second nozzle, the second spray pipe andsecond nozzle configured to be fluidly coupled to the fluid source; afirst actuator coupled at one end to the first boom frame and at anopposite end to the first spray section, the first actuator beingoperably controlled by the controller; a second actuator coupled at oneend to the second boom frame and at an opposite end to the second spraysection, the second actuator being operably controlled by thecontroller; wherein, the first actuator controllably extends andretracts to move the first spray pipe and the first nozzle between araised position and a lowered position, and the second actuatorcontrollably extends and retracts to move the second spray pipe and thesecond nozzle between a raised position and a lowered position; furtherwherein, the controller operably controls the first actuator and thesecond actuator independently of one another.

In one example of this embodiment, the spray boom assembly may include afirst tilt actuator coupled at one end to the center frame and at anopposite end to the first boom for pivotably moving the first boomrelative to the center frame; a second tilt actuator coupled at one endto the center frame and at an opposite end to the second boom forpivotably moving the second boom relative to the center frame; wherein,the first tilt actuator and the second tilt actuator are operablycontrolled by the controller; further wherein, the controller operablycontrols the first actuator, the second actuator, the first tiltactuator and the second tilt actuator independently of one another. Inanother example, the spray boom assembly may include a plurality ofsensors disposed in electrical communication with the controller, wherea first sensor of the plurality of sensors is disposed on the firstspray pipe for detecting a distance between the first spray section anda target; wherein, the controller is configured to receive the distancedetected by the first sensor, and compare the first distance to a targetdistance; further wherein, the controller operably controls the firstactuator to move the first spray section until the distance detected bysensor is approximately the same as the target distance.

In a further example of this embodiment, the spray boom assembly mayinclude a third actuator coupled at one end to the first boom frame andat an opposite end to the first spray pipe, the third actuator beingspaced from the first actuator along the first spray pipe; and a fourthactuator coupled at one end to the second boom frame and at an oppositeend to the second spray pipe, the fourth actuator being spaced from thesecond actuator along the second spray pipe; wherein, the third andfourth actuators are operably controlled by the controller; wherein, thecontroller operably controls the first actuator, the second actuator,the third actuator, and the fourth actuator independently of oneanother.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects of the present disclosure and the manner ofobtaining them will become more apparent and the disclosure itself willbe better understood by reference to the following description of theembodiments of the disclosure, taken in conjunction with theaccompanying drawings, wherein:

FIG. 1 is a top view of a sprayer system attached to a work machine;

FIG. 2 is a schematic of a sprayer boom frame with a plurality ofsections configured for independent section boom height control;

FIG. 3 is another schematic of the spray boom frame of FIG. 2;

FIG. 4 is a schematic of a sprayer control system for controllingindependent section boom height;

FIG. 5 is a schematic of a movable plumbing frame of a sprayer with aprotective cover;

FIG. 6 is a schematic of one embodiment of the frame of FIG. 5;

FIG. 7 is a schematic of a second embodiment of the frame of FIG. 5; and

FIG. 8 is a schematic of a third embodiment of the frame of FIG. 5.

Corresponding reference numerals are used to indicate correspondingparts throughout the several views.

DETAILED DESCRIPTION

For the purposes of promoting an understanding of the principles of thepresent disclosure, reference will now be made to the embodimentsdescribed herein and illustrated in the drawings and specific languagewill be used to describe the same. It will nevertheless be understoodthat no limitation of the scope of the present disclosure is therebyintended, such alterations and further modifications in the illustrateddevices and methods, and such further applications of the principles ofthe present disclosure as illustrated therein being contemplated aswould normally occur to one skilled in the art to which the presentdisclosure relates.

Referring to FIG. 1, an example of a vehicle carrying a spray boom withspray nozzles mounted on the boom. The vehicle may be a platform ordolly for industrial spray applications or a tractor towingground-engaging tillage left/right wings with disks and shanks, or aplanter towing a row of seed dispenser modules. In the illustratedembodiment of FIG. 1, the vehicle is a towed sprayer or a self-propelledagricultural sprayer 100 including a vehicle main frame 102 and anattached autonomous control station or an operator cab 108 forcontrolling the sprayer 100. The main frame 102 may be supported by aplurality of ground-engaging mechanisms. In FIG. 1, a pair of frontwheels 104 and a pair of rear wheels 106 support the main frame and maypropel the vehicle in at least a forward travel direction 118. A tank110 may be mounted to the frame 102 or another frame (not shown) whichis attached to the main frame 102. The tank 110 may contain a sprayliquid or other substance to be discharged during a spraying operation.

A fixed or floating center frame 114 is coupled to a front or a rear ofthe main frame 102. In FIG. 1, the center frame 114 is shown coupled tothe rear of the main frame 102. The center frame 114 may support anarticulated folding spray boom assembly 112 that is shown in FIG. 1 inits fully extended working position for spraying a field. In otherexamples, the spray boom assembly 112 may be mounted in front of theagricultural sprayer 100.

A plurality of spray nozzles 116 can be mounted along a fluiddistribution pipe or spray pipe (not shown) that is mounted to the sprayboom assembly 112 and fluidly coupled to the tank 110. Each nozzle 116can have multiple spray outlets, each of which conducts fluid to asame-type or different-type of spray tip. The nozzles 116 on the sprayboom assembly 112 can be divided into boom frames or wing structuressuch as 124, 126, 128, 130, 132, 134, and 136 (or collectively “spraysection(s)”). In FIG. 1, the plurality of groups or sections may includea center boom frame 124 which may be coupled to the center frame 114.Although not shown in FIG. 1, a lift actuator may be coupled to thecenter frame 114 at one end and to the center boom frame 124 at theopposite end for lifting or lowering the center boom frame 124.

The spray boom assembly 112 may be further divided into a first or leftboom 120 and a second or right boom 122. In FIG. 1, the first boom 120is shown on a left side of the spray boom assembly 112, and the secondboom 122 is depicted on the right side thereof. In some instances, aleft-most portion of the center boom frame 124 may form part of thefirst boom 120 and a right-most portion may form part of the second boom122. In any event, the first boom 120 may include those boom frameswhich are disposed on a left-hand side of the spray boom assembly 112including a first inner boom frame 126 (or commonly referred to as a“left inner wing”), a first outer boom frame 130 (or commonly referredto as a “lift outer wing”), and a first breakaway frame 134. Similarly,the second boom 122 may include those boom frames which are disposed ona right-hand side of the spray boom assembly 112 including a secondinner boom frame 128 (or commonly referred to as a “right inner wing”),a second outer boom frame 132 (or commonly referred to as a “right outerwing”), and a second breakaway frame 136. Although seven boom frames areshown, there may any number of boom frames that form the spray boomassembly 112.

As shown in FIG. 1, the first boom frame 126 may be pivotally coupled tothe center boom frame 124 via various mechanical couplings. Other meansfor coupling the first boom frame 126 to the center boom frame 124 maybe used. Similarly, the first outer boom frame 130 may be coupled to thefirst inner boom frame 126, and the first breakaway frame 134 may becoupled to the first outer boom frame 130. In some cases, theseconnections may be rigid connections, whereas in other embodiments theframes may be pivotably coupled to one another. Moreover, the secondinner boom frame 128 may be coupled to the center boom frame 124, andthe second outer boom frame 132 may be coupled to the second inner boomframe 128. Likewise, the second breakaway frame 136 may be coupled tothe second outer boom frame 136. These couplings may be pivotalconnections or rigid connections depending upon the type of boom.

In a conventional spray boom assembly, a tilt actuator may be providedfor tilting each boom with respect to the center frame. In FIG. 1, forexample, a first tilt actuator may be coupled at one end to the centerframe 114 or the center boom frame 124, and at an opposite end to thefirst boom 120. During operation, the first boom 120 may be pivoted withrespect to the center frame 114 or center boom frame 124 such that thefirst breakaway frame 134 may reach the highest point of the first boom120. This may be useful if the sprayer 100 is moving in the traveldirection 118 and an object is in the path of the first boom 120 suchthat the tilt actuator (not shown) may be actuated to raise the firstboom 120 to avoid contacting the object. The same may be true of thesecond boom 122. Here, a second tilt actuator (not shown) may beactuated to pivot the second boom 122 with respect to the center frame114 or the center boom frame 124.

As described above, one of the challenges with a conventional boom isthat actuating the tilt cylinder may cause the entire boom, i.e., eachof its individual frames, to raise or lower with respect to the ground.As this happens, the distance between each nozzle and the ground changesand may result in the distance exceeding a target distance. In effect,this can cause the spray from each nozzle to drift into non-targetedareas or not reach desired targets. The spraying operation can beineffective and non-productive.

Thus, this disclosure provides one or more embodiments of sectional boomheight control for individual sections of a sprayer. In this disclosure,the use of tilt control via the aforementioned tilt actuators may becombined with the use of vertical movement control at each respectiveboom section. Referring to FIGS. 1-3, each boom frame may include one ormore individual boom sections. In other words, the first inner boomframe 126 may include one or more boom sections to which a plurality ofnozzles is coupled. In FIG. 2, for example, one embodiment of a sprayboom assembly 200 is illustrated. The spray boom assembly 200 may besimilar to the spray boom assembly 100 of FIG. 1. Here, the spray boomassembly 200 includes a boom frame 202 similar to the various boomframes 124, 126, 128, 130, 132, 134, 136 shown in FIG. 1. The boom frame202 may include a first boom section 204, a second boom section 206, athird boom section 208, and a fourth boom section 210. Each boom sectionmay include a spray pipe 212 which is fluidly coupled to a fluid sourcesuch as the tank 110. Moreover, a plurality of nozzles 214 are fluidlycoupled to the respective spray pipe 212.

In the illustrated embodiment of FIG. 2, the first boom section 204 mayinclude a first actuator 216 and a second actuator 218. The firstactuator 216 may be offset or spaced from the second actuator 218. Forexample, the first actuator 216 may be coupled between the boom frame202 and the spray pipe 212 near a first end of the spray pipe 212, andthe second actuator 218 may be coupled between the boom frame 202 andthe spray pipe 212 near a second or opposite end of the spray pipe 212.Each of the two actuators may be electrically coupled to a maincontroller which controls actuation of both. The controller may beconfigured to independently control each actuator. The actuators may bepowered electrically, hydraulically, mechanically, pneumatically, or anycombination thereof. The same may be said for the tilt actuators, liftactuators, and any other actuator described herein.

Similar to the first boom section 204, the second boom section 206 mayalso include a first actuator 220 and a second actuator 222. The twoactuators may be spaced from one another such that the first actuator220 can vertically control the position and orientation of one end ofthe spray pipe 212, whereas the second actuator 222 can verticallycontrol the position and orientation of the opposite end of the spraypipe 212. Moreover, the first and second actuators may also beelectrically coupled to the controller (not shown) such that thecontroller is able to actuate the actuators of the second boom section206 independent of one another and independent of the first and secondactuators of the first boom section 204.

The third boom section 208 further includes a first actuator 224 and asecond actuator 226 as shown in FIG. 2. The two actuators may be spacedor offset from one another such that the first actuator 224 is able toraise or lower one end of the spray pipe 212, whereas the other actuator226 is able to raise or lower the opposite end of the spray pipe 212. Amain controller (not shown) may further electrically control the firstand second actuators independently of one another and independent of theother actuators of the first and second boom sections.

The fourth boom section 210 may also include a first actuator 228 and asecond actuator 230. The two actuators may be spaced from one anothersuch that the first actuator 228 can vertically control the position andorientation of one end of the spray pipe 212, whereas the secondactuator 230 can vertically control the position and orientation of theopposite end of the spray pipe 212. Moreover, the first and secondactuators may also be electrically coupled to and controlled by a maincontroller (not shown) such that the controller is able to actuate theactuators of the fourth boom section 210 independent of one another andindependent of the actuators of the other three boom sections.

In FIG. 3, the spray boom assembly 200 is shown with the different boomsections being controlled independently of one another. In the firstboom section 204, the second actuator 218 is actuated to extend andlower its end of the spray pipe 212 such that the spray pipe 212 isoriented at an angle. This may be controlled by a main controller inorder to avoid an object, for example. In the second spray section,neither actuator is actuated and the spray pipe remains at the sameposition as shown in FIG. 2. With respect to the third spray section208, the first actuator 224 is actuated to extend and lower its end ofthe spray pipe 212. The fourth spray section 210 is shown beingcontrolled such that the second actuator 230 is actuated to lower itsend of the spray pipe 212.

The embodiment of FIG. 3 is only provided as an example to illustrateimproved, independent height control by adjusting vertical movement ofeach spraying section. Moreover, each spray section includes a smallerset or grouping of nozzles compared to the overall boom frame to whichthe spray sections are connected. Thus, the nozzles on each spraysection may be dynamically controlled by monitoring crop height andadjusting the distance between each nozzle and the crop. Moreover, thisadditional control can reduce or eliminate problems associated withdrift and thus provides improved drift control. In addition, while FIGS.2 and 3 do not show the tilt actuators, the embodiment of FIG. 4 doesillustrate both actuators. The tilt actuators may still pivot or adjustan entire boom along with the individual boom frames and boom sectionscoupled thereto. However, with the improved boom section height controlfeature of the present disclosure, the sprayer is able to avoid objectsand the like while still maintaining a desired or target spray height.In this disclosure, target spray height may refer to the distance anozzle is from the ground or a crop it is spraying.

Turning to FIG. 4, one embodiment of a control system 400 is shown forproviding the improved boom section height control and drift control. Inthis system 400, a controller 404 may be provided for controlling thesprayer and its operation. The controller 404 may include a memory unitfor storing algorithms, software, lookup tables, and the like. Aprocessor within the controller 404 may execute instructions via thealgorithms, software, etc. for controlling the sprayer. The controller404 may be any type of controller. It may be an engine controller, atransmission controller, a machine or vehicle controller, or any otherknown type of controller. The controller 404 may be capable ofcommunicating with different components on the sprayer, and it mayfurther send or transmit wireless signals to a remote location such as adatabase, server, etc. Moreover, the controller 404 may be capable ofreceiving communications wirelessly from a remote location.

The sprayer may be similar to the one illustrated in FIGS. 1-3. Thesprayer may include a boom assembly 402 having a center boom frame 406,a first inner boom frame 408 (or left inner wing), a second inner boomframe 410 (or right inner wing), a first outer boom frame 412 (or leftouter wing), a second outer boom frame 414 (or right outer wing), afirst breakaway frame 416 (or left breakaway), and a second breakawayframe 418 (or right breakaway). The first inner boom frame 408, thefirst outer boom frame 412, and the first breakaway frame 416 may formpart of a first boom which is coupled to a center frame or center boomframe 406. The first boom may be pivoted with respect to this centerboom frame 406 via a first tilt actuator 446. Likewise, the second innerboom frame 410, the second outer boom frame 414, and the secondbreakaway frame 418 may form part of a second boom which is coupled to acenter frame or center boom frame 406. The second boom may be pivotedwith respect to this center boom frame 406 via a second tilt actuator448.

The center boom frame 406 may be raised and lowered relative to theground via a lift actuator 450. In some instances, as the center boomframe 406 is raised and lowered by the lift actuator 450, the first andsecond booms (and thus each boom frame) is also raised and lowered alongwith the center boom frame 406.

As also shown in FIG. 4, each boom frame may include a plurality of boomsections similar to those described with respect to FIGS. 2 and 3. Forexample, the first breakaway frame 416 may include a first boom section420 and a second boom section 422. The first outer boom frame 412 mayinclude a first boom section 424 and a second boom section 426. Thefirst inner boom frame 408 may include a first boom section 428 and asecond boom section 430. The center boom frame 406 is not shown havingany boom sections, but the center boom frame 406 may include one or moreboom sections. The second inner boom frame 410 may include a first boomsection 432 and a second boom section 434. The second outer boom frame414 may also include a first boom section 436 and a second boom section438. Lastly, the second breakaway frame 418 may include a first boomsection 440 and a second boom section 442. While each boom frame isdescribed and shown as having two boom sections, in other embodimentsthe boom frames may have any number of boom sections. Moreover, while atotal of seven boom frames are shown in FIG. 4, other embodiments mayinclude one or more boom frames.

Each boom section illustrated in FIG. 4 is shown having a first actuator452, a second actuator 454 and a sensor 444 coupled thereto. Crop heightor other distance measurements may be detected by the sensors 444 andcommunicated to the controller 404. As such, each sensor 444 is disposedin electrical communication with the controller 404. The sensors 444 maybe an ultrasonic sensor, a laser-based crop height sensor, acamera-based crop height sensor, or any other known sensor capable ofdetecting a distance between two objects. Sensors 444 may also bedisposed at each end of the first boom and second boom. Conventionalsprayer systems may include a single sensor on each boom frame, whereasas shown in FIG. 4 there may be a sensor located on each boom section.Thus, each boom frame may include a plurality of sensors mountedthereon.

The individual spray section actuators are able to provide positivefeedback with which the height of each boom section is measured andadjusted independently. In other words, the first and second actuatorson the first boom section 420 of the breakaway frame 416 may becontrolled independently of one another by the controller 404. Thesensor(s) 444 located on the first boom section 420 may communicate theposition of each actuator and the corresponding height of the boomsection. At the same time, the controller 404 may be able to operablycontrol the section height of the second boom section 422 of the firstbreakaway frame 416. Moreover, the controller 404 may be able to controlthe actuators on each boom section of the other boom frames at the sametime, and thus more precise control along the entire spray boom assemblyis achievable. In combination with tilt control and lift control, thecontroller 404 is better able to control the height each nozzle is fromthe ground or crop as the sprayer moves about different terrain.

Although spray pipes and nozzles are not shown in FIG. 4, each spraysection may include a plurality of nozzles coupled thereto for sprayinga substance onto a crop or surface. The substance may be stored in atank as described with respect to FIG. 1, and distributed to each spraysection via a distribution or spray pipe. Other ways of fluidly couplingeach nozzle to a fluid source may be used as known by the skilledartisan.

In a different embodiment of FIG. 4, the control system 400 may furtherbe capable of controlling the individual boom sections without the needfor a tilt actuator. In other words, the individual boom sectionactuators 452, 454 may be used for tilting or orienting each boomsection at an angle that would otherwise be achieved via the tiltactuators. In this embodiment, neither tilt actuator is present and thecontroller 404 is able to tilt or angularly dispose each boom throughthe use of the different section actuators.

Another embodiment of the present disclosure is shown in FIG. 5. In thisembodiment, a boom section 500 of a boom frame is shown. The boomsection 500 may include a section actuator 502 for raising and loweringthe entire boom section 500 relative to a boom frame in a substantiallylinear direction 520. The boom section 500 may further include a spraypipe 504 through which fluid may flow and be supplied to individualnozzles 506 which are mounted to the spray pipe 504.

In addition to the section actuator 502, the boom section 500 may alsoinclude a first actuator 508 and a second actuator 510 spaced from oneanother along the spray pipe 504. The actuators may be further coupledto a cover frame 512 as shown in FIG. 5. Thus, the entire spray section500 may be moved vertically via the section actuator 502, whereas thespray pipe 504 and nozzles 506 may be raised or lowered independently ofthe cover frame 512 via the first and second actuators. This additionalcontrol may allow for improved section height control and improved driftcontrol.

The cover frame 512 may be used to protect the nozzles 506 during aspraying operation. The cover frame 512 may include a top or baseportion 514 which is coupled at one end to the section actuator 502. Thecover frame 512 may also include a first side portion 516 and a secondside portion 518. Each side portion may extend below the nozzles 506 toprevent the nozzles from contacting a crop or the ground. In thismanner, the cover frame 512 functions as a shield by protecting thenozzles and their spray tips.

While the cover frame 512 of FIG. 5 includes two sides, it is furthercontemplated in other embodiments that the cover frame 512 may include asingle side, i.e., the first side 516. Alternatively, other embodimentsmay include additional sides to surround the spray pipe 504 and nozzles506 on all sides except for directly underneath. In some cases, a bottomside may be provided but which includes openings through which the sprayfrom each nozzle is able to pass and reach the crop or ground.

Although not shown in scale in FIG. 5, the cover frame 512 may includeat least one side or part of one side that extends below a furtherdistance one of the nozzles 506 may be lowered by either the firstactuator 508 or second actuator 510. In other words, the cover frame 512has at least one portion which is lower than all of the nozzles wheneither the first or second actuator is fully extended. In doing so, thisensures that the nozzles are protected against contact with the ground,crop or another object.

Referring to FIG. 6, another spray boom assembly 600 is shown. In thisembodiment, the spray boom assembly 600 is shown having a boom frame 602similar the center boom frame, the first and the second inner and outerboom frames of FIGS. 1 and 4. The boom frame 602 may include a pluralityof boom sections including a first boom section 604, a second boomsection 606, and a third boom section 608. Each boom section may bemounted to the boom frame 602 such that each section is stationary withrespect to the boom frame 602.

The first boom section 604 may include a first spray pipe 610 to which aplurality of nozzles 616 is coupled. The second boom section 606 mayinclude a second spray pipe 612 to which a plurality of nozzles 618 iscoupled, and the third boom section 608 may include a third spray pipe614 to which a plurality of nozzles 620 is coupled. In this embodiment,the spray sections may move upon movement of the entire boom frame 602.This may be the result of a tilt actuator causing the boom frame 602 tomove, or via some other actuator.

In FIG. 7, a different spray boom assembly 700 is shown. The spray boomassembly 700 includes a boom frame 702 having a plurality of differentboom sections. In this embodiment, the boom frame 702 may include afirst boom section 704, a second boom section 706, and a third boomsection 708. The first boom section 704 may include a spray pipe 710 towhich a plurality of nozzles 716 is coupled thereto. The second boomsection 706 may include a spray pipe 712 as well, and a plurality ofnozzles 718 may be coupled to the spray pipe 712. The third boom section708 may include a spray pipe 714 to which a third plurality of nozzles720 may be coupled thereto.

Unlike the embodiment of FIG. 6, the embodiment of FIG. 7 provides foran improved section height control. Here, the first boom section 704 maybe raised and lowered independent of the boom frame 702 via a firstactuator 722. The second boom section 706 may be raised and loweredindependent of the boom frame 702 via a second actuator 724. Similarly,the third boom section 708 may be raised and lowered independent of theboom frame 702 via a third actuator 726. In each case, the first boomsection 704 may be raised or lowered relative to the boom frame 702independently of the second and third boom sections. Likewise, each ofthe second and third boom sections may be raised or loweredindependently of one another and the first boom section. Thisindependent section control provides more precise spraying and reducesdrift.

Another feature of FIG. 7 is that each spray section may include amovable plumbing frame which supports the plurality of nozzles. Theplumbing frame may include hoses, pipes, and other fluid-transferringmechanisms for fluidly coupling a fluid source (e.g., the tank 110) toeach nozzle 718. With the extension and retraction of each spraysection, the plumbing to and from each nozzle may require a movableframe for the supply of liquid spray to each nozzle. In FIG. 7, thefirst spray section 704 includes a first movable plumbing frame 728. Thefirst plumbing frame 728 may be moved linearly via the first actuator722. The first spray pipe 710 may also be coupled to the first plumbingframe 728 as shown in FIG. 7. A flex pipe (not shown) may be used forfluidly coupling the spray pipe 710 to a section pipe or otherdistribution pipe and for supplying fluid from a tank or fluid source toeach nozzle 716.

Similarly, the second boom section 706 may also include a movableplumbing frame 730 as shown in FIG. 7. The movable plumbing frame 730may raise and lower via actuation from the second actuator 724. Thesecond spray pipe 712 may be coupled to the second plumbing frame 730.Likewise, the third boom section 708 may include a movable plumbingframe 732. The third movable plumbing frame 732 may move in a lineardirection via the third actuator 726. The third spray pipe 714 may becoupled to the third plumbing frame 732.

Although not shown in detail, each plumbing frame may include a coverframe similar to that shown in FIG. 5. Any type of shielding orprotective cover may be used for protecting the nozzles, and in FIG. 7the shield or protective cover may be coupled to the plumbing frame asneeded.

Referring to FIG. 8, an example of the sprayer boom assembly 700 of FIG.7 is shown. In this example, the first boom section 704 is disposed inits normal position. In other words, the actuator 722 has not actuatedthe first boom section 704 in either a raised or lowered direction. Thesecond boom section 706, however, has been lowered a first distance bythe second actuator 724. In this example, the second boom section 706 isshown at a position lower than the first boom section 704. The thirdboom section 708 is also shown lowered by the third actuator 726. Here,the third boom section 708 is lowered even further than the second boomsection 706. In one non-limiting example, the third boom section 708 maybe lowered by a distance, d, of about 12-18 inches. This distance isonly provided as an example, and the distance the boom section is raisedor lowered may depend upon the type of boom and the design of theshielding used for the given boom section. For those boom sections thatdo not include shielding, the boom section may be lowered less than theboom section that has shielding. In any event, the example of FIG. 8illustrates how each boom section along the same boom frame may beraised or lowered independent of the other boom sections along the sameboom frame. As a result, increased productivity is possible due to moreprecision with the various boom sections and nozzles, and there is lessdrift due to this increased control.

While exemplary embodiments incorporating the principles of the presentdisclosure have been described herein, the present disclosure is notlimited to such embodiments. Instead, this application is intended tocover any variations, uses, or adaptations of the disclosure using itsgeneral principles. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this disclosure pertains.

1. A spray boom of a spray boom assembly, comprising: a boom frame; aspray section coupled to the boom frame, the spray section including anelongated spray pipe configured to be fluidly coupled to a fluid source;a nozzle coupled to the spray pipe and configured to be fluidly coupledto the fluid source, the nozzle including a tip for distributing afluid; an actuator coupled at one end to the boom frame and at anopposite end to the spray section; wherein, the actuator controllablyextends and retracts to move the spray pipe and nozzle between a raisedposition and a lowered position.
 2. The spray boom of claim 1, furthercomprising a plumbing frame to which the spray pipe is coupled, theplumbing frame being movable by the actuator between the raised positionand the lowered position.
 3. The spray boom of claim 1, furthercomprising a protective cover of the spray section for at leastpartially surrounding the spray pipe and the nozzle.
 4. The spray boomof claim 3, wherein the protective cover comprises at least one wallthat extends downwardly to a location that is lower than the nozzle inits lowered position.
 5. The spray boom of claim 3, wherein: theprotective cover comprises a top portion, a first side wall, and asecond side wall; the first actuator being coupled to the top portion tomove the spray section in a substantially linear direction between theraised and lowered positions.
 6. The spray boom of claim 3, furthercomprising: a first actuator coupled at one end to the protective coverand at an opposite end to the spray pipe; a second actuator coupled atone end to the protective cover and at an opposite end to the spraypipe; wherein, the first actuator and second actuator are spaced alongthe spray pipe from one another; further wherein, the first actuatoroperably moves one end of the spray pipe relative to the protectivecover, and the second actuator operably moves an opposite end of thespray pipe relative to the protective cover.
 7. The spray boom of claim6, wherein the actuator operably moves the protective cover, the firstand second actuators, the spray pipe, and the nozzle relative to theboom frame.
 8. The spray boom of claim 1, further comprising a secondactuator coupled at one end to the boom frame and at an opposite end tothe spray section, the second actuator being spaced from the firstactuator along the spray pipe such that the first actuator is disposednear one end of the spray pipe and the second actuator is disposed nearan opposite end of the spray pipe; wherein, the second actuatorcontrollably extends and retracts to move the spray pipe between araised position and a lowered position.
 9. The spray boom of claim 8,wherein the first actuator and the second actuator are controllablyactuated independently of one another.
 10. The spray boom of claim 1,further comprising a second spray section coupled to the boom frame, thesecond spray section including a second elongated spray pipe configuredto be fluidly coupled to the fluid source; a second nozzle coupled tothe second spray pipe and configured to be fluidly coupled to the fluidsource; a second actuator coupled at one end to the boom frame and at anopposite end to the second spray section; wherein, the second actuatorcontrollably extends and retracts to move the second spray pipe and thesecond nozzle between a raised position and a lowered position; furtherwherein, the first actuator and the second actuator are operablycontrolled independently of one another.
 11. A spray boom assembly,comprising: a plurality of boom frames including at least a first boomframe and a second boom frame; the first boom frame comprising a firstspray section coupled thereto, the first spray section including a firstspray pipe and a first nozzle, the first spray pipe and first nozzleconfigured to be fluidly coupled to a fluid source; the second boomframe comprising a second spray section coupled thereto, the secondspray section including a second spray pipe and a second nozzle, thesecond spray pipe and second nozzle configured to be fluidly coupled tothe fluid source; a first actuator coupled at one end to the first boomframe and at an opposite end to the first spray section; a secondactuator coupled at one end to the second boom frame and at an oppositeend to the second spray section; wherein, the first actuatorcontrollably extends and retracts to move the first spray pipe and thefirst nozzle between a raised position and a lowered position, and thesecond actuator controllably extends and retracts to move the secondspray pipe and the second nozzle between a raised position and a loweredposition; further wherein, the first actuator and the second actuatorare operably controlled independently of one another.
 12. The spray boomassembly of claim 11, further comprising: a third spray section coupledto the first boom frame and having a third spray pipe and a thirdnozzle, and a third actuator coupled between the first boom frame andthe third spray section for controllably actuating the third spraysection between a raised position and a lowered position, wherein thethird actuator is controlled independently of the first and secondactuators.
 13. The spray boom assembly of claim 11, further comprising athird actuator coupled at one end to the first boom frame and at anopposite end to the first spray pipe, the third actuator being spacedfrom the first actuator along the first spray pipe; wherein, the firstactuator and the third actuator are controlled independently of oneanother.
 14. The spray boom assembly of claim 13, further comprising afourth actuator coupled at one end to the second boom frame and at anopposite end to the second spray pipe, the fourth actuator being spacedfrom the second actuator along the second spray pipe; wherein, thefirst, second, third and fourth actuators are controlled independentlyof one another.
 15. The spray boom assembly of claim 11, wherein theplurality of boom frames comprises: a third boom frame having a thirdspray section coupled thereto, the third spray section including a thirdspray pipe and a third nozzle, the third spray pipe and the third nozzleconfigured to be fluidly coupled to the fluid source; and a thirdactuator coupled at one end to the third boom frame and at an oppositeend to the third spray section; wherein, the third actuator is operablycontrolled independently of the first and second actuators.
 16. Thespray boom assembly of claim 11, wherein the first spray sectioncomprises a plurality of spray sections, each of the plurality of spraysections including a spray pipe and a nozzle coupled thereto, where eachof the plurality of spray sections further includes an actuator coupledbetween the first boom frame and each spray pipe of each spray section,wherein, each of the actuators operably controlling movement of each ofthe plurality of spray sections independently of the other spraysections.
 17. A spray boom assembly being transported by a work vehiclein a direction of travel for performing a spraying operation on a field,comprising: a control system comprising a controller for operablycontrolling the spray boom assembly; a center frame; a first boom and asecond boom pivotally coupled to the center frame, the first boomextending transversely from one side of the center frame relative to thedirection of travel and the second boom extending transversely from anopposite side of the center frame; the first boom including a first boomframe and the second boom including a second boom frame; the first boomframe comprising a first spray section coupled thereto, the first spraysection including a first spray pipe and a first nozzle, the first spraypipe and first nozzle configured to be fluidly coupled to a fluidsource; the second boom frame comprising a second spray section coupledthereto, the second spray section including a second spray pipe and asecond nozzle, the second spray pipe and second nozzle configured to befluidly coupled to the fluid source; a first actuator coupled at one endto the first boom frame and at an opposite end to the first spraysection, the first actuator being operably controlled by the controller;a second actuator coupled at one end to the second boom frame and at anopposite end to the second spray section, the second actuator beingoperably controlled by the controller; wherein, the first actuatorcontrollably extends and retracts to move the first spray pipe and thefirst nozzle between a raised position and a lowered position, and thesecond actuator controllably extends and retracts to move the secondspray pipe and the second nozzle between a raised position and a loweredposition; further wherein, the controller operably controls the firstactuator and the second actuator independently of one another.
 18. Thespray boom assembly of claim 17, further comprising: a first tiltactuator coupled at one end to the center frame and at an opposite endto the first boom for pivotably moving the first boom relative to thecenter frame; a second tilt actuator coupled at one end to the centerframe and at an opposite end to the second boom for pivotably moving thesecond boom relative to the center frame; wherein, the first tiltactuator and the second tilt actuator are operably controlled by thecontroller; further wherein, the controller operably controls the firstactuator, the second actuator, the first tilt actuator and the secondtilt actuator independently of one another.
 19. The spray boom assemblyof claim 18, further comprising a plurality of sensors disposed inelectrical communication with the controller, where a first sensor ofthe plurality of sensors is disposed on the first spray pipe fordetecting a distance between the first spray section and a target;wherein, the controller is configured to receive the distance detectedby the first sensor, and compare the first distance to a targetdistance; further wherein, the controller operably controls the firstactuator to move the first spray section until the distance detected bysensor is approximately the same as the target distance.
 20. The sprayboom assembly of claim 17, further comprising: a third actuator coupledat one end to the first boom frame and at an opposite end to the firstspray pipe, the third actuator being spaced from the first actuatoralong the first spray pipe; and a fourth actuator coupled at one end tothe second boom frame and at an opposite end to the second spray pipe,the fourth actuator being spaced from the second actuator along thesecond spray pipe; wherein, the third and fourth actuators are operablycontrolled by the controller; wherein, the controller operably controlsthe first actuator, the second actuator, the third actuator, and thefourth actuator independently of one another.